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Slice the vegetables into medium size pieces, as directed. Don’t slice them so small that they fall in between the grids of the grill or grill basket while grilling.
Place sliced vegetables into a 9 x 13-inch baking dish.
Prepare marinade by whisking together olive oil, lemon juice, garlic, herbs, and salt and pepper (optional).
Drizzle marinade over veggies and toss with tongs to distribute ingredients.
Cover, chill, and marinate the vegetables for at least one hour.
Heat the grill to medium heat. Use a grill basket or grill the vegetables directly on the grill grates. Reserve marinade at the bottom of the dish.
Grill vegetables, turning frequently with tongs to cook evenly and avoid burning. Brush on additional reserved marinade during cooking. Cook until golden brown and just tender. Some vegetables will be done cooking earlier than others, so remove as the vegetables are done. Vegetables may take from 10-40 minutes, depending on size and type of vegetable.
Serve grilled vegetables on a platter, or with sandwiches, salads, grain bowls, or wraps, as desired. Store in an airtight container for up to 7 days in the fridge.